diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp index d8a761573c..ab53884d53 100644 --- a/openpilot/cereal/log.capnp +++ b/openpilot/cereal/log.capnp @@ -2235,6 +2235,7 @@ struct DriverMonitoringState { pose @0: Bool; eye @1: Bool; phone @2: Bool; + sleep @3: Bool; } struct Pose { diff --git a/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx b/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx index 1e592e2192..1d6527cf2c 100644 --- a/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/openpilot/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:dd299afabe7a3e0d04cbe2bd97fdb0c93bba8ad6d3cc3663a0e0ededaf243ac2 -size 7497335 +oid sha256:dee5a294e8afaacc9295ac5d100e00733ecac278e79264b96331e40a3ede1b04 +size 7844499 diff --git a/openpilot/selfdrive/monitoring/policy.py b/openpilot/selfdrive/monitoring/policy.py index 06aca55407..7e4b672d72 100644 --- a/openpilot/selfdrive/monitoring/policy.py +++ b/openpilot/selfdrive/monitoring/policy.py @@ -51,6 +51,7 @@ class DRIVER_MONITOR_SETTINGS: self._SG_THRESHOLD = 0.9 self._BLINK_THRESHOLD = 0.865 self._PHONE_THRESH = 0.5 + self._SLEEP_THRESH = 0.75 self._POSE_PITCH_THRESHOLD = 0.3133 self._POSE_PITCH_THRESHOLD_SLACK = 0.3237 self._POSE_PITCH_THRESHOLD_STRICT = self._POSE_PITCH_THRESHOLD @@ -138,6 +139,7 @@ class DriverMonitoring: self.pose = DriverPose(settings=self.settings) self.blink = DriverBlink() self.phone_prob = 0. + self.sleep_prob = 0. self.alert_level = AlertLevel.none self.always_on = always_on @@ -240,6 +242,7 @@ class DriverMonitoring: self.distracted_types['pose'] = bool((pitch_error > pitch_threshold) or (yaw_error > yaw_threshold)) self.distracted_types['eye'] = bool((self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD) self.distracted_types['phone'] = bool(self.phone_prob > self.settings._PHONE_THRESH) + self.distracted_types['sleep'] = bool(self.sleep_prob > self.settings._SLEEP_THRESH) def _update_states(self, driver_state, cal_rpy, car_speed, op_engaged, lowspeed, demo_mode=False, steering_angle_deg=0.): rhd_pred = driver_state.wheelOnRightProb @@ -277,6 +280,7 @@ class DriverMonitoring: self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \ * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.phone_prob = driver_data.phoneProb + self.sleep_prob = driver_data.sleepProb self._get_distracted_types() self.driver_distracted = any(self.distracted_types.values()) and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std @@ -406,6 +410,7 @@ class DriverMonitoring: dm.visionPolicyState.distractedTypes.pose = self.distracted_types['pose'] dm.visionPolicyState.distractedTypes.eye = self.distracted_types['eye'] dm.visionPolicyState.distractedTypes.phone = self.distracted_types['phone'] + dm.visionPolicyState.distractedTypes.sleep = self.distracted_types['sleep'] dm.visionPolicyState.faceDetected = self.face_detected dm.visionPolicyState.pose.pitch = self.pose.pitch dm.visionPolicyState.pose.yaw = self.pose.yaw diff --git a/openpilot/selfdrive/monitoring/test_monitoring.py b/openpilot/selfdrive/monitoring/test_monitoring.py index 53e40f7019..18fd52f7b0 100644 --- a/openpilot/selfdrive/monitoring/test_monitoring.py +++ b/openpilot/selfdrive/monitoring/test_monitoring.py @@ -25,6 +25,7 @@ def make_msg(face_detected, distracted=False, model_uncertain=False): ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain] # TODO: test both separately when e2e is used ds.leftDriverData.phoneProb = 0. + ds.leftDriverData.sleepProb = 0. return ds diff --git a/openpilot/selfdrive/test/process_replay/model_replay.py b/openpilot/selfdrive/test/process_replay/model_replay.py index fb46e83ef0..a4f9fcfb2b 100755 --- a/openpilot/selfdrive/test/process_replay/model_replay.py +++ b/openpilot/selfdrive/test/process_replay/model_replay.py @@ -80,6 +80,7 @@ def generate_report(proposed, master, tmp, commit): (lambda x: get_idx_if_non_empty(x.leftDriverData.faceOrientation, 0), "leftDriverData.faceOrientation0"), (lambda x: get_idx_if_non_empty(x.leftDriverData.leftBlinkProb), "leftDriverData.leftBlinkProb"), (lambda x: get_idx_if_non_empty(x.leftDriverData.phoneProb), "leftDriverData.phoneProb"), + (lambda x: get_idx_if_non_empty(x.leftDriverData.sleepProb), "leftDriverData.sleepProb"), (lambda x: get_idx_if_non_empty(x.rightDriverData.faceProb), "rightDriverData.faceProb"), ], "driverStateV2") diff --git a/openpilot/tools/jotpluggler/layouts/driver-monitoring-debug.json b/openpilot/tools/jotpluggler/layouts/driver-monitoring-debug.json index 3197f40ad8..e82edfbf96 100644 --- a/openpilot/tools/jotpluggler/layouts/driver-monitoring-debug.json +++ b/openpilot/tools/jotpluggler/layouts/driver-monitoring-debug.json @@ -1 +1 @@ -{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"children": [{"children": [{"camera_view": "driver", "curves": [], "kind": "camera", "title": "Cabin Camera"}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/alertLevel"}], "title": "..."}], "sizes": [0.5, 0.5], "split": "vertical"}, {"children": [{"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/activePolicy"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/faceDetected"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/eye"}, {"color": "#dc5234", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/phone"}, {"color": "#43a047", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/pose"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/awarenessPercent"}], "title": "..."}], "sizes": [0.25, 0.25, 0.25, 0.25], "split": "vertical"}], "sizes": [0.5, 0.5], "split": "horizontal"}}]} +{"current_tab_index": 0, "tabs": [{"name": "tab1", "root": {"children": [{"children": [{"camera_view": "driver", "curves": [], "kind": "camera", "title": "Cabin Camera"}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/alertLevel"}], "title": "..."}], "sizes": [0.5, 0.5], "split": "vertical"}, {"children": [{"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/activePolicy"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/faceDetected"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/eye"}, {"color": "#dc5234", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/phone"}, {"color": "#8e44ad", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/sleep"}, {"color": "#43a047", "name": "/driverMonitoringState/visionPolicyState/distractedTypes/pose"}], "title": "..."}, {"curves": [{"color": "#236bb4", "name": "/driverMonitoringState/visionPolicyState/awarenessPercent"}], "title": "..."}], "sizes": [0.25, 0.25, 0.25, 0.25], "split": "vertical"}], "sizes": [0.5, 0.5], "split": "horizontal"}}]}